Defense attorney Steve Richards said Walden has agreed to perform 50 hours of community service and continue counseling.
"He's not found guilty of anything at this time," Richards said Friday.
Richards said the charge will be dismissed in a year as long as Walden stays out of trouble.
"There's no conviction," Richards said. "It satisfies our objectives."
It's not clear if Walden will be subject to discipline by the NFL. League spokesman Greg Aiello said Walden's status "will be reviewed under our policy."
Copyright 2012 by The Associated Press